main.cpp

00001 #include "mbed.h"
00002 #include "HIDScope.h"
00003 #include "MODSERIAL.h"
00004 #include "biquadFilter.h"
00005 
00006 //Define objects
00007     AnalogIn    EMG_left(A0); //Analog input
00008     AnalogIn    EMG_right(A1);   
00009     Ticker      SampleEMGLeft;
00010     Ticker      SampleEMGRight;
00011     Ticker      ScopeTimer;
00012     Ticker      serial;
00013     Ticker      MovingAverageLeft;
00014     Ticker      MovingAverageRight;
00015     HIDScope    scope(4);
00016     DigitalOut led(LED_RED);
00017     MODSERIAL pc(USBTX, USBRX);
00018     
00019 
00020 // Declaring variables
00021     double EMG_L_f_v1 = 0, EMG_L_f_v2 = 0;
00022     double EMG_L_fh=0;
00023     double EMG_left_value;
00024     double EMG_left_f1;
00025     double EMG_left_f2;
00026     double EMG_left_f3;
00027     double EMG_left_f4;
00028     double EMG_left_f5;
00029     double EMG_left_f6;
00030     double EMG_left_abs;
00031 
00032     double EMG_right_value;
00033     double EMG_right_f1;
00034     double EMG_right_f2;
00035     double EMG_right_f3;
00036     double EMG_right_f4;
00037     double EMG_right_f5;
00038     double EMG_right_f6;
00039     double EMG_right_abs;
00040     double Threshold1 = 0.02;
00041     double Threshold2 = 0.06;
00042     
00043     int N = 50;
00044     double MAF_left[50];
00045     double EMG_left_MAF;
00046     double MAF_right[50];
00047     double EMG_right_MAF;
00048     
00049 // coëfficiënten
00050     const double BiGainEMG_H1 = 0.795375, BiGainEMG_H2 = 0.895763;
00051     const double EMGH1_a1 = -1.56308931068, EMGH1_a2 = 0.61765749583, EMGH1_b0 = 1.0*BiGainEMG_H1, EMGH1_b1 = -1.99909075151*BiGainEMG_H1, EMGH1_b2 = 1.0*BiGainEMG_H1; //coefficients for high-pass filter
00052     const double EMGH2_a1 = -1.75651417587, EMGH2_a2 = 0.82183182692, EMGH2_b0 = 1.0*BiGainEMG_H2, EMGH2_b1 = -1.99470632157*BiGainEMG_H2, EMGH2_b2 = 1.0*BiGainEMG_H2; //coefficients for high-pass filter
00053     
00054     const double BiGainEMG_L1=0.959332, BiGainEMG_L2 = 0.223396;
00055     const double EMGL1_a1 = -1.55576653052, EMGL1_a2 = 0.61374320375, EMGL1_b0 = 1.0*BiGainEMG_L1, EMGL1_b1 = -0.90928276835*BiGainEMG_L1, EMGL1_b2 = 1.0*BiGainEMG_L1; // coefficients for low-pass filter
00056     const double EMGL2_a1 = -1.79696141922, EMGL2_a2 = 0.85096669383, EMGL2_b0 = 1.0*BiGainEMG_L2, EMGL2_b1 = -1.75825311060*BiGainEMG_L2, EMGL2_b2 = 1.0*BiGainEMG_L2; // coefficients for low-pass filter
00057 
00058     const double BiGainEMG_N1 = 1.0, BiGainEMG_N2 = 0.965081;
00059     const double EMGN1_a1 = -1.56858163035, EMGN1_a2 = 0.96424138362, EMGN1_b0 = 1.0*BiGainEMG_N1, EMGN1_b1 = -1.61854514265*BiGainEMG_N1, EMGN1_b2 = 1.0*BiGainEMG_N1; //coefficients for notch filter
00060     const double EMGN2_a1 = -1.61100357722, EMGN2_a2 = 0.96592170538, EMGN2_b0 = 1.0*BiGainEMG_N2, EMGN2_b1 = -1.61854514265*BiGainEMG_N2, EMGN2_b2 = 1.0*BiGainEMG_N2; //coefficients for notch filter
00061    
00062 // Filter creation    
00063     biquadFilter EMG_highpass1 (EMGH1_a1, EMGH1_a2, EMGH1_b0, EMGH1_b1, EMGH1_b2);        // creates the high pass filter
00064     biquadFilter EMG_highpass2 (EMGH2_a1, EMGH2_a2, EMGH2_b0, EMGH2_b1, EMGH2_b2);
00065     biquadFilter EMG_lowpass1 (EMGL1_a1, EMGL1_a2, EMGL1_b0, EMGL1_b1, EMGL1_b2);         // creates the low pass filter
00066     biquadFilter EMG_lowpass2 (EMGL2_a1, EMGL2_a2, EMGL2_b0, EMGL2_b1, EMGL2_b2);  
00067     biquadFilter EMG_notch1 (EMGN1_a1, EMGN1_a2, EMGN1_b0, EMGN1_b1, EMGN1_b2);           // creates the notch filter
00068     biquadFilter EMG_notch2 (EMGN2_a1, EMGN2_a2, EMGN2_b0, EMGN2_b1, EMGN2_b2);
00069    
00070     biquadFilter EMG_highpass1R (EMGH1_a1, EMGH1_a2, EMGH1_b0, EMGH1_b1, EMGH1_b2);        // creates the high pass filter
00071     biquadFilter EMG_highpass2R (EMGH2_a1, EMGH2_a2, EMGH2_b0, EMGH2_b1, EMGH2_b2);
00072     biquadFilter EMG_lowpass1R (EMGL1_a1, EMGL1_a2, EMGL1_b0, EMGL1_b1, EMGL1_b2);         // creates the low pass filter
00073     biquadFilter EMG_lowpass2R (EMGL2_a1, EMGL2_a2, EMGL2_b0, EMGL2_b1, EMGL2_b2);  
00074     biquadFilter EMG_notch1R (EMGN1_a1, EMGN1_a2, EMGN1_b0, EMGN1_b1, EMGN1_b2);           // creates the notch filter
00075     biquadFilter EMG_notch2R (EMGN2_a1, EMGN2_a2, EMGN2_b0, EMGN2_b1, EMGN2_b2);
00076             
00077 // EMG filtering function
00078 void EMGfilterLeft()
00079 {
00080     EMG_left_value = EMG_left.read();
00081     EMG_left_f1 = EMG_highpass1.step(EMG_left_value);
00082     EMG_left_f2 = EMG_highpass2.step(EMG_left_f1);
00083     EMG_left_abs = fabs(EMG_left_f2);
00084     EMG_left_f3 = EMG_lowpass1.step(EMG_left_abs);
00085     EMG_left_f4 = EMG_lowpass2.step(EMG_left_f3);
00086     EMG_left_f5 = EMG_notch1.step(EMG_left_f4);
00087     EMG_left_f6 = EMG_notch1.step(EMG_left_f5);
00088 
00089 }
00090 
00091 void EMGfilterRight()
00092 {
00093     EMG_right_value = EMG_right.read();
00094     EMG_right_f1 = EMG_highpass1R.step(EMG_right_value);
00095     EMG_right_f2 = EMG_highpass2R.step(EMG_right_f1);
00096     EMG_right_abs = fabs(EMG_right_f2);
00097     EMG_right_f3 = EMG_lowpass1R.step(EMG_right_abs);
00098     EMG_right_f4 = EMG_lowpass2R.step(EMG_right_f3);
00099     EMG_right_f5 = EMG_notch1R.step(EMG_right_f4);
00100     EMG_right_f6 = EMG_notch1R.step(EMG_right_f5);
00101 }
00102 
00103 // Movingaverage Filter
00104     void MovingAverageFilterLeft()
00105     {
00106         EMG_left_MAF = (MAF_left[0]+MAF_left[1]+MAF_left[2]+MAF_left[3]+MAF_left[4]+MAF_left[5]+MAF_left[6]+MAF_left[7]+MAF_left[8]+MAF_left[9]+MAF_left[10]+MAF_left[11]+MAF_left[12]+MAF_left[13]+MAF_left[14]+MAF_left[15]+MAF_left[16]+MAF_left[17]+MAF_left[18]+MAF_left[19]+MAF_left[20]+MAF_left[21]+MAF_left[22]+MAF_left[23]+MAF_left[24]+MAF_left[25]+MAF_left[26]+MAF_left[27]+MAF_left[28]+MAF_left[29]+MAF_left[30]+MAF_left[31]+MAF_left[32]+MAF_left[33]+MAF_left[34]+MAF_left[35]+MAF_left[36]+MAF_left[37]+MAF_left[38]+MAF_left[39]+MAF_left[40]+MAF_left[41]+MAF_left[42]+MAF_left[43]+MAF_left[44]+MAF_left[45]+MAF_left[46]+MAF_left[47]+MAF_left[48]+MAF_left[49])/N;
00107         MAF_left[49] = MAF_left[48], MAF_left[48] = MAF_left[47], MAF_left[47] = MAF_left[46], MAF_left[46] = MAF_left[45], MAF_left[45] = MAF_left[44], MAF_left[44] = MAF_left[43], MAF_left[43] = MAF_left[42], MAF_left[42] = MAF_left[41], MAF_left[41] = MAF_left[40], MAF_left[40] = MAF_left[39], MAF_left[39] = MAF_left[38], MAF_left[38] = MAF_left[37], MAF_left[37] = MAF_left[36], MAF_left[36] = MAF_left[35], MAF_left[35] = MAF_left[34], MAF_left[34] = MAF_left[33], MAF_left[33] = MAF_left[32], MAF_left[32] = MAF_left[31], MAF_left[31] = MAF_left[30], MAF_left[30] = MAF_left[29], MAF_left[29] = MAF_left[28], MAF_left[28] = MAF_left[27], MAF_left[27] = MAF_left[26], MAF_left[26] = MAF_left[25];
00108         MAF_left[25] = MAF_left[24], MAF_left[24] = MAF_left[23], MAF_left[23] = MAF_left[22], MAF_left[22] = MAF_left[21], MAF_left[21] = MAF_left[20], MAF_left[20] = MAF_left[19], MAF_left[19] = MAF_left[18], MAF_left[18] = MAF_left[17], MAF_left[17] = MAF_left[16], MAF_left[16] = MAF_left[15], MAF_left[15] = MAF_left[14], MAF_left[14] = MAF_left[13], MAF_left[13] = MAF_left[12], MAF_left[12] = MAF_left[11], MAF_left[11] = MAF_left[10], MAF_left[10] = MAF_left[9], MAF_left[9] = MAF_left[8], MAF_left[8] = MAF_left[7], MAF_left[7] = MAF_left[6], MAF_left[6] = MAF_left[5], MAF_left[5] = MAF_left[4], MAF_left[4] = MAF_left[3], MAF_left[3] = MAF_left[2], MAF_left[2] = MAF_left[1], MAF_left[1] = MAF_left[0];
00109         MAF_left[0] = EMG_left_f6;
00110     }
00111     
00112     void MovingAverageFilterRight()
00113     {
00114         EMG_right_MAF = (MAF_right[0]+MAF_right[1]+MAF_right[2]+MAF_right[3]+MAF_right[4]+MAF_right[5]+MAF_right[6]+MAF_right[7]+MAF_right[8]+MAF_right[9]+MAF_right[10]+MAF_right[11]+MAF_right[12]+MAF_right[13]+MAF_right[14]+MAF_right[15]+MAF_right[16]+MAF_right[17]+MAF_right[18]+MAF_right[19]+MAF_right[20]+MAF_right[21]+MAF_right[22]+MAF_right[23]+MAF_right[24]+MAF_right[25]+MAF_right[26]+MAF_right[27]+MAF_right[28]+MAF_right[29]+MAF_right[30]+MAF_right[31]+MAF_right[32]+MAF_right[33]+MAF_right[34]+MAF_right[35]+MAF_right[36]+MAF_right[37]+MAF_right[38]+MAF_right[39]+MAF_right[40]+MAF_right[41]+MAF_right[42]+MAF_right[43]+MAF_right[44]+MAF_right[45]+MAF_right[46]+MAF_right[47]+MAF_right[48]+MAF_right[49])/N;
00115         MAF_right[49] = MAF_right[48], MAF_right[48] = MAF_right[47], MAF_right[47] = MAF_right[46], MAF_right[46] = MAF_right[45], MAF_right[45] = MAF_right[44], MAF_right[44] = MAF_right[43], MAF_right[43] = MAF_right[42], MAF_right[42] = MAF_right[41], MAF_right[41] = MAF_right[40], MAF_right[40] = MAF_right[39], MAF_right[39] = MAF_right[38], MAF_right[38] = MAF_right[37], MAF_right[37] = MAF_right[36], MAF_right[36] = MAF_right[35], MAF_right[35] = MAF_right[34], MAF_right[34] = MAF_right[33], MAF_right[33] = MAF_right[32], MAF_right[32] = MAF_right[31], MAF_right[31] = MAF_right[30], MAF_right[30] = MAF_right[29], MAF_right[29] = MAF_right[28], MAF_right[28] = MAF_right[27], MAF_right[27] = MAF_right[26], MAF_right[26] = MAF_right[25];
00116         MAF_right[25] = MAF_right[24], MAF_right[24] = MAF_right[23], MAF_right[23] = MAF_right[22], MAF_right[22] = MAF_right[21], MAF_right[21] = MAF_right[20], MAF_right[20] = MAF_right[19], MAF_right[19] = MAF_right[18], MAF_right[18] = MAF_right[17], MAF_right[17] = MAF_right[16], MAF_right[16] = MAF_right[15], MAF_right[15] = MAF_right[14], MAF_right[14] = MAF_right[13], MAF_right[13] = MAF_right[12], MAF_right[12] = MAF_right[11], MAF_right[11] = MAF_right[10], MAF_right[10] = MAF_right[9], MAF_right[9] = MAF_right[8], MAF_right[8] = MAF_right[7], MAF_right[7] = MAF_right[6], MAF_right[6] = MAF_right[5], MAF_right[5] = MAF_right[4], MAF_right[4] = MAF_right[3], MAF_right[3] = MAF_right[2], MAF_right[2] = MAF_right[1], MAF_right[1] = MAF_right[0];
00117         MAF_right[0] = EMG_right_f6;
00118     }
00119 
00120 
00121 // HIDScope
00122     void ScopeSend()
00123     {
00124         scope.set(0, EMG_left_value);
00125         scope.set(1, EMG_left_MAF);
00126         scope.set(2, EMG_right_value);
00127         scope.set(3, EMG_right_MAF);
00128         scope.send();
00129     }
00130     
00131 int main()
00132 {
00133     SampleEMGLeft.attach(&EMGfilterLeft, 0.002);
00134     SampleEMGRight.attach(&EMGfilterRight, 0.002);
00135     ScopeTimer.attach(&ScopeSend, 0.002);
00136     MovingAverageLeft.attach(&MovingAverageFilterLeft, 0.005);
00137     MovingAverageRight.attach(&MovingAverageFilterRight, 0.005);
00138     while(1) 
00139     {
00140         if (EMG_left_f6 > Threshold1)
00141         {
00142             led.write(0);
00143         }
00144         
00145         else
00146         {
00147             led.write(1);
00148         }
00149     }
00150 }